crosswalk.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <memory>
#include <string>
#include <vector>
 
#include "modules/planning/traffic_rules/crosswalk/proto/crosswalk.pb.h"
 
#include "modules/planning/planning_base/common/planning_context.h"
#include "modules/planning/planning_interface_base/traffic_rules_base/traffic_rule.h"
 
namespace apollo {
namespace planning {
 
class Crosswalk : public TrafficRule {
 public:
  bool Init(const std::string& name,
            const std::shared_ptr<DependencyInjector>& injector) override;
  virtual ~Crosswalk() = default;
 
  common::Status ApplyRule(Frame* const frame,
                           ReferenceLineInfo* const reference_line_info);
  void Reset() override { crosswalk_overlaps_.clear(); }
 
 private:
  void MakeDecisions(Frame* const frame,
                     ReferenceLineInfo* const reference_line_info);
  bool FindCrosswalks(ReferenceLineInfo* const reference_line_info);
  bool CheckStopForObstacle(ReferenceLineInfo* const reference_line_info,
                            const hdmap::CrosswalkInfoConstPtr crosswalk_ptr,
                            const Obstacle& obstacle,
                            const double stop_deceleration);
 
 private:
  CrosswalkConfig config_;
  static constexpr char const* CROSSWALK_VO_ID_PREFIX = "CW_";
  std::vector<const hdmap::PathOverlap*> crosswalk_overlaps_;
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::Crosswalk, TrafficRule)
 
}  // namespace planning
}  // namespace apollo